Systems, devices, articles and methods for the partition of items

ABSTRACT

Systems, devices, articles, and methods for the partition of a plurality of items. A system including at least one processor, a frame, an end-effector coupled to the frame, and a plurality of reception spaces proximate to the end-effector. Coupled to the at least one processor is the end-effector, and a storage device storing processor-executable instructions which cause the at least one processor to direct the end-effector partition a plurality of items into two or more defined parts per a defined partition for the plurality of items. The end-effector places the plurality of items in the plurality of reception spaces. Item(s) for a respective part of the two or more defined parts are placed in a respective reception space, and may be transferred to a respective container. A method of operation of a system including at least one processor and a robot substantially as described and illustrated herein.

TECHNICAL FIELD

This disclosure generally relates to the field(s) of machine learning,data collection, distributed computation, and/or operation of robots.

BACKGROUND Description of the Related Art

Machine Learning

A computer, which is a machine, can perform or succeed at one or morerelated tasks as defined by a measure. The computer learns if afterexposure to information characterizing an event the computer improvesunder the measure at performing the one or more related tasks. Further,the computer learns without updates to any processor-executableinstructions by imperative programming.

Robots

Robots are systems, machines, or devices that are capable of carryingout one or more tasks. A robot is an electro-mechanical machinecontrolled by circuitry, for example a processor followingprocessor-executable instructions; a human operator controllableelectro-mechanical machine; a robotic subsystem of another machineincluding another robot; or the like. A robot has the ability to move ina physical space and to accomplish physical tasks. Robots may beoperated by a human operator, such as, via remote control, or mayoperate autonomously without control of an operator. Hybrid robots existin which some functions are autonomous while others are operatorcontrolled or control switches between autonomous and operatorcontrolled modes. As well, a robot includes computational resources toperform computational tasks. The computational tasks can be in aid ofthe physical tasks.

BRIEF SUMMARY

A system including a frame, a plurality of reception spaces, and atleast one end-effector physically coupled to the frame and moveable tobe at least proximate with the plurality of reception spaces. The systemfurther includes a plurality of extraction spaces wherein a respectiveextraction space corresponds to a respective reception space of theplurality of reception spaces. The system further includes at least oneprocessor communicatively coupled to control movement of at least the atleast one end-effector, and at least one nontransitoryprocessor-readable storage device communicatively coupled to the atleast one processor and which stores processor-executable instructions.The processor-executable instructions, when executed by the at least oneprocessor, cause the at least one processor to: direct the at least oneend-effector to grasp a first respective item from a plurality of items,identify the first respective item from the plurality of items asfulfilling at least in part a first part of a defined partition for theplurality of items, direct the at least one end-effector to transfer thefirst respective item to a first reception space of the plurality ofreception spaces. The processor-executable instructions, when executedby the at least one processor, cause the at least one processor to:direct the at least one end-effector to grasp a second respective itemfrom the plurality of items, identify the second respective item fromthe plurality of items, and if the second respective item fulfills atleast in part the first part of the defined partition for the pluralityof items, direct the at least one end-effector to transfer the secondrespective item to the first reception space of the plurality ofreception spaces, and if the second respective item fulfills at least inpart the second part of the defined partition for the plurality ofitems, direct the at least one end-effector to transfer the secondrespective item to a second reception space of the plurality ofreception spaces. The processor-executable instructions, when executedby the at least one processor, cause the at least one processor to:monitor for completion of the plurality of parts with the plurality ofitems, and if the first respective part of the defined partition for theplurality of items is incomplete, generate a first signal that includesprocessor-readable error information that represents an incompletestatus for the first respective part of the plurality of parts.

A method controlled by at least one processor in communication with atleast one end-effector, the method including: receiving a plurality ofitems in an input space reachable by the at least one end-effector,wherein the plurality of items admits to a partitioning into a pluralityof parts, and partitioning sequentially, by the at least one processorand the at least one end-effector, the plurality of items. Partitioningincludes: grasping, by the at least one end-effector, a first respectiveitem from the plurality of items, identifying, by the at least oneprocessor, the first respective item from the plurality of items asassociated with a first respective part from the plurality of parts, andplacing, by the at least one end-effector, the first respective item ina first respective reception space in a plurality of reception spaces.The method further includes: grasping, by the at least one end-effector,a second respective item from the plurality of items, and identifying,by the at least one at least one processor, the second respective itemfrom the plurality of items. If the second respective item is associatedwith the first part of the plurality of parts, the method includesplacing, by the at least one end-effector, the second respective item inthe first respective reception space. If the second respective item isassociated with the second part of the plurality of parts, the methodincludes placing the second respective item in a second respectivereception space in the plurality of reception spaces. The method furtherincludes: monitoring, by the at least one processor, for completefulfillment of the plurality of parts by the plurality of items, and ifthe first respective part or the second respective part of the pluralityof parts is incomplete, generating, by the at least one processor, afirst signal that includes processor-readable error information thatrepresents an incomplete status for the respective part of the pluralityof parts.

A system including a frame, a plurality of reception spaces, and atleast one end-effector physically coupled to the frame and moveable tobe at least proximate with the plurality of reception spaces. The systemfurther includes a plurality of extraction spaces wherein a respectiveextraction space corresponds to a respective reception space of theplurality of reception spaces. The system further includes at least oneprocessor communicatively coupled to control movement of at least the atleast one end-effector, and at least one nontransitoryprocessor-readable storage device communicatively coupled to the atleast one processor and which stores processor-executable instructions.The processor-executable instructions, when executed by the at least oneprocessor, cause the at least one processor to direct the at least oneend-effector to physically partition a plurality of items into two ormore defined parts per a defined partition for the plurality of items,wherein a respective part of the two or more defined parts is placed ina respective reception space of the plurality of reception spaces.

A system including at least one processor and a robot substantially asdescribed and illustrated herein.

A robot substantially as described and illustrated herein.

A method of operation of a system including at least one processor and arobot substantially as described and illustrated herein.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

In the drawings, identical reference numbers identify similar elementsor acts. The sizes and relative positions of elements in the drawingsare not necessarily drawn to scale. For example, the shapes of variouselements and angles are not necessarily drawn to scale, and some ofthese elements may be arbitrarily enlarged and positioned to improvedrawing legibility. Further, the particular shapes of the elements asdrawn, are not necessarily intended to convey any information regardingthe actual shape of the particular elements, and may have been solelyselected for ease of recognition in the drawings. Systems, devices,articles, and methods are described in greater detail herein withreference to the following figures in which:

FIG. 1 is a schematic diagram illustrating a portion of a roboticsystem;

FIG. 2 is a schematic diagram illustrating an exemplary robot suitablefor inclusion in the system of FIG. 1;

FIG. 3 is a schematic diagram illustrating an exemplary processor-baseddevice suitable for inclusion in the system of FIG. 1;

FIG. 4 illustrates, in a perspective view, an exemplary device thatincludes a robot, conveyor, and buffer;

FIG. 5A and FIG. 5B illustrate, in elevation views, the device shown inFIG. 4;

FIG. 6 illustrates, in plan view, the device shown in FIG. 4;

FIG. 7 is a flow-diagram of an implementation of a method of operationin one or more material handling systems;

FIG. 8 is a flow-diagram of an implementation of a method of operationin a robotic system including an end-effector, which when executed,partitions a batch of items;

FIG. 9 is a flow-diagram of an implementation of a method of operationin a robotic system including a conveyor, which when executed,partitions a batch of items;

FIG. 10 is a flow-diagram of an implementation of a method of operationin a robotic system, which when executed, partitions a batch of items;

FIG. 11 illustrates, in a perspective view, an exemplary device thatincludes at least one end-effector, reception areas, and extractionareas;

FIG. 12 illustrates, in elevation view, the device shown in FIG. 11;

FIG. 13 illustrates, in plan view, the device shown in FIG. 11;

FIG. 14 is a flow-diagram of an implementation of a method of operationin one or more material handling systems;

FIG. 15 is a flow-diagram of an implementation of a method of operationin a robotic system including an end-effector, which when executed,partitions a batch of items; and

FIG. 16 is a flow-diagram of an implementation of a method of operationin a robotic system, which when executed, partitions a batch of items.

DETAILED DESCRIPTION

In the following description, some specific details are included toprovide a thorough understanding of various disclosed embodiments. Oneskilled in the relevant art, however, will recognize that embodimentsmay be practiced without one or more of these specific details, or withother methods, components, materials, etc. In some instances, well-knownstructures associated with machine learning and/or robotics, such asworkpieces, processors, sensors, storage devices, network interfaces,frames, power cables, motors, and end-effectors, are not shown ordescribed in detail to avoid unnecessarily obscuring descriptions of thedisclosed embodiments.

Unless the context requires otherwise, throughout the specification andclaims which follow, the word “comprise” and variations thereof, suchas, “comprises” and “comprising” are to be construed in an open,inclusive sense, that is as “including, but not limited to.”

Reference throughout this specification to “one”, “an”, or “another”applied to “embodiment”, “example”, or “implementation” means that aparticular referent feature, structure, or characteristic described inconnection with the embodiment, example, or implementation is includedin at least one embodiment, example, or implementation. Thus, theappearances of the phrases “in one embodiment”, or “in an embodiment”,or “another embodiment” or the like in various places throughout thisspecification are not necessarily all referring to the same embodiment.Furthermore, the particular features, structures, or characteristics maybe combined in any suitable manner in one or more embodiments, examples,or implementations.

It should be noted that, as used in this specification and the appendedclaims, the singular forms “a”, “an”, and “the” include plural referentsunless the content clearly dictates otherwise. Thus, for example,reference to a robot including “an end-effector” includes a singleend-effector, or two or more end-effectors. Likewise, reference to aprocessor communicatively coupled to an end-effector includes oneprocessor, or two or more processors, or one, two, or moreend-effectors. It should also be noted that the term “or” is generallyemployed in its sense including “and/or” unless the content clearlydictates otherwise.

The headings provided herein are for convenience only and do notinterpret the scope or meaning of the embodiments.

FIG. 1 shows an exemplary system 100 in accordance with the presentsystem, devices, articles, and methods. Various components of system 100are optional. As shown, system 100 includes robot 102-1 and robot 102-2(collectively 102). Robots 102 may be associated with, e.g.,communicatively coupled to, one or more optional operator interfaces,e.g., optional operator interface 104. Optional operator interface 104may include one or more displays and input devices. System 100 includesa computer system 106, an example of a processor-based device. Whileillustrated as a pair of robots 102 and computer system 106, variousimplementations can include a greater number of robots (102) and/orcomputer systems (106). In some implementations, system 100 includes atleast one nontransitory computer- and processor-readable data store orstorage device 110.

Robots 102 and computer system 106 are communicatively coupled via anetwork or non-network communication channel 108. Examples of a suitablenetwork or non-network communication channel 108 include a wire basednetwork or communication channel, optical based network or communicationchannel, wireless network or communication channel, or a combination ofwired, optical, and/or wireless networks or communication channels.

A human operator 105 at operator interface 104 can selectively pilot oneor both of robots 102. In human operator controlled (or piloted) mode,the human operator observes representations of sensor data, for example,video, audio or haptic data received from one or more environmentalsensors or internal sensors. The human operator then acts, conditionedby a perception of the representation of the data, and createsinformation or executable instructions to direct robots 102 or otherrobot(s). Robots 102 operate in, and receive data about, an environment140 that comprises a physical space. The term “about” is employed herein the sense of represent, characterize, or summarize. The data about anenvironment 140 is received from one or more sensors. In someimplementations, the one or more sensors are on or otherwise carried byrobots 102. In some implementations, the one or more sensors areexternal to or separate from robots 102, such as, camera 156, microphone158.

In piloted mode, robots 102 execute robot control instructions inreal-time (e.g., without added delay) as received from the operatorinterface 104 without taking into account or revision by the controllerbased on sensed information.

In some implementations, robots 102, operate without an operatorinterface 104 or human operator, e.g., autonomously. Robots 102 mayoperate in an autonomous control mode by executing autonomous controlinstructions. For example, computer system 106 or robots 102 can usesensor data from one or more sensors associated with operator generatedrobot control instructions and the operator generated robot controlinstructions from one or more times robots 102 was in piloted mode togenerate autonomous robot control instructions for subsequent use. Forexample, by using deep learning techniques to extract features from thesensor data such that in autonomous mode the robots 102 autonomouslyrecognize features and/or conditions in its environment and in responseperform a defined act, set of acts, a task, or a pipeline of tasks.Exemplary acts include recognizing the presence of a red ball, or anycolor ball, depending on the features extracted from the sensor data,and kicking the ball. In the absence of a ball, the robot executing theautonomous robot control instructions would not kick the air as if aball was present.

In some implementations, the computer system 106 is a smallerprocessor-based device like a mobile phone, single board computer,embedded computer, and the like. The computer system 106 may, in someinstances, be termed or referred to interchangeably as a computer,server, or an analyzer 106. Computer system 106 may create autonomouscontrol instructions for robots 102 or another robot. In someimplementations, robots 102 autonomously recognize features and/orconditions in the surrounding environment as represented by arepresentation (e.g., presentation, depiction) of the environment andone or more virtual items composited into the environment, and inresponse to being presented with the representation perform one or moreactions or tasks.

In some instances, robots 102 may be controlled autonomously at onetime, while being piloted, operated, or controlled by a human operatorat another time. That is, operate under an autonomous control mode andchange to operate under a piloted mode (i.e., non-autonomous). In athird mode of operation robots 102 can replay or execute piloted robotcontrol instructions in a human operator controlled (or piloted) mode.That is operate without sensor data and replay pilot data.

A robot, like robots 102, is an electro-mechanical machine controlled bycircuitry, for example circuitry that includes a processor that executesand follows processor-executable instructions; a human operatorcontrollable electro-mechanical machine; a robotic subsystem (orapparatus) of another machine including a robot; or the like. A robotperforms physical acts, actions, or tasks, for example, work withtangible results and/or computational tasks. A robot has the ability tomove in a physical space, such as environment 140, to accomplishphysical tasks. As well, a robot includes computational resources,on-board and/or remote computational resources, to perform computationaltasks. The computational tasks can be in aid of the physical tasks,e.g., plan, as a task, to accomplish a tangible result to physical task.A robot has the ability to acquire information from sensors, on-boardand/or remote sensors. A robot can be part of or included in a largersystem like system 100.

A robot typically includes a propulsion or motion subsystem comprisingof one or more motors, solenoids or other actuators, and associatedhardware (e.g., drivetrain, wheel(s), treads) to propel the robot in aphysical space. An example of a motion subsystem is a set of drivetrainand wheels, such as, drivetrain and wheels 152-1, 152-2 (collectively152) of robot 102-1, 102-2, respectively. The space does not need to behorizontal or terrestrial. Examples of spaces include water, air,underground, vertical spaces, outer space and the like. The robots 102may operate in distribution center, stock room, or warehouse. Theseinclude a tangible place of storage for products. Principal warehouseactivities include receipt of items, storage, order pick, and shipment.

A robot typically includes a manipulation subsystem comprising one ormore appendages, such as, one or more arms and/or one or more associatedend-effectors, arm and end-effector 154-1, 154-2 (collectively 154) ofrobot 102-1, 102-2. An end-effector is a device attached to a roboticarm designed to interact with the environment. End-effectors for robotoperating in unstructured environments are devices of complex design.Ideally, these are capable of performing many tasks, including forexample grasping or gripping or otherwise physically releasably engagingor otherwise interacting with an item.

System 100 includes a sensor subsystem comprising one or more sensors,such as, one or more imagers or cameras 156, and/or one or moremicrophones 158. (Robots 102 may include an onboard sensor subsystem.See examples, disclosed herein at, at least, FIG. 2.) A sensor subsystemacquires data that characterizes or represents the robots 102 in acontext or scenario, and/or performing one or more tasks. The dataincludes environmental sensor information representative ofenvironmental conditions external to robots 102.

System 100 includes an observer interface system. System 100 includesone or more observer interfaces 160 coupled to network or non-networkcommunication channel 108. The observer interfaces 160 include input oroutput parts. An example of an output part is a display of explanatorytext or a dynamic representation of robots 102 in a context or scenario.For example, the dynamic representation robot includes video and audiofeed, for instance a computer-generated animation. Useful video andaudio formats include H.264™ and Opus™ respectively. Example of an inputpart includes a WIMP interface. An observer 161 may observe or monitorthe operation of system 100, robots 102 or the like from observerinterfaces 160.

FIG. 2 schematically shows parts of a robot 200, including a processor,for use in the system 100, shown in FIG. 1, in accordance with thepresent systems, devices, articles, and methods. Robot 200 includes atleast one body or housing 202, and a control subsystem 203 that includesat least one processor 204, at least one nontransitory computer- andprocessor-readable storage device 208, and at least one bus 206 towhich, or by which, the at least one processor 204 and storage device(s)208 are communicatively coupled. In some implementations, robot 200comprises a sub-set of the illustrated robot 200, including controlsubsystem 203, bus(es) 206, storage device(s) 208, and network interfacesubsystem 210.

Robot 200 includes a network interface subsystem 210, e.g., a networkinterface device, that is communicatively coupled to bus(es) 206 andprovides bi-directional communication with other systems (e.g., externalsystems external to the robot 200) via a network or non-networkcommunication channel 108. The network interface subsystem 210 includesone or more buffers. Network interface subsystem 210 receives and sendsprocessor-readable information related to a plurality of items, e.g.,processor-executable instructions or specifications on how to processthe plurality of items. Network interface subsystem 210 allows robot 200to be communicatively coupled to a control system via an applicationprogram interface, e.g., an application program interface in system 106.Network interface subsystem 210 receives and sends data relatedpartition of a plurality of items. Network interface subsystem 210 maybe any circuitry effecting bidirectional communication ofprocessor-readable data, and processor-executable instructions, forinstance radios (e.g., radio or microwave frequency transmitters,receivers, transceivers), communication ports and/or associatedcontrollers. Suitable communication protocols include FTP, HTTP, WebServices, SOAP with XML, WI-FI™ compliant, BLUETOOTH™ compliant,cellular (e.g., GSM, CDMA), and the like. Suitable transportationprotocols include TCP/IP, SCTP, and DCCP.

Robot 200 includes an input subsystem 212 comprising one or more sensorsthat detect, sense, or measure conditions or states of robot 200 and/orconditions in the environment in which the robot operates, and produceor provide corresponding sensor data or information. Such sensorsinclude cameras or other imagers, touch sensors, load cells, pressuresensors, microphones, meteorological sensors, chemical sensors ordetectors, or the like. Robot 200 includes an output subsystem 214comprising output devices, such as, speakers, lights, and displays.Input subsystem 212 and output subsystem 214, are communicativelycoupled to processor(s) 204 via bus(es) 206. In some implementations,input subsystem 212 includes receivers to receive position and/ororientation information. For example, a global position system (GPS)receiver to receive GPS data, two more time signals for the controlsubsystem 203 to create a position measurement based on data in thesignals, such as, time of flight, signal strength, or other data toeffect a position measurement. Also for example, one or moreaccelerometers can provide inertial or directional data in one, two, orthree axes.

Robot 200 may include a propulsion or motion subsystem 216 comprisingmotors, actuators, drivetrain, wheels, and the like to propel or movethe robot 200 within a physical space and interact with it. Thepropulsion or motion subsystem 216 propulsion or motion subsystemcomprises of one or more motors, solenoids or other actuators, andassociated hardware (e.g., drivetrain, wheel(s), treads), to propel therobot in a physical space. For example, the propulsion or motionsubsystem 216 includes drive train and wheels 152.

Robot 200 includes a manipulation subsystem 218, for example comprisingone or more arms, manipulators, end-effectors, associated motors,solenoids, other actuators, linkages, drive-belts, and the like coupledand operable to cause the arm(s) and/or end-effector(s) to move within arange of motions. The manipulation subsystem 218 is communicativelycoupled to the processor(s) 204 via bus(es) 206. For example,manipulation subsystem 218 includes arm and end-effector 154.

A person of ordinary skill in the art will appreciate the components inrobot 200 may be varied, combined, split, omitted, or the like. In someimplementations one or more of the network interface subsystem 210,input subsystem 212, output subsystem 214, propulsion or motionsubsystem 216 and/or manipulation subsystem 218 are combined. In someimplementations, one or more of the subsystems (e.g., input subsystem212) are split into further subsystems. In some implementations, bus(es)206 is a plurality of buses (e.g., data buses, instruction buses, powerbuses) included in at least one body. For example, as part of a modularcomputing architecture where computational resources at distributed overthe components of robot 200. That is, a robot, like robot 200, could insome implementations, have a processor in a left arm and a storagedevice in its thorax. In some implementations, computational resourcesare located in the interstitial spaces between structural or mechanicalcomponents of the robot 200. A data storage device could be in a leg anda separate data storage device in another limb. In some implementations,the computational resources distributed over the body include redundantcomputational resources.

The at least one processor 204 may be any logic processing unit, such asone or more microprocessors, central processing units (CPUs), digitalsignal processors (DSPs), graphics processing units (GPUs),application-specific integrated circuits (ASICs), programmable gatearrays (PGAs), programmed logic units (PLUs), and the like. The at leastone processor 204 may be referred to in the singular, but may be two ormore processors.

The at least one storage device 208 is at least one nontransitory ortangible storage device. In some implementations, storage device(s) 208includes two or more distinct devices. The storage device(s) 208 can,for example, include one or more a volatile storage devices, forinstance random access memory (RAM), and one or more non-volatilestorage devices, for instance read only memory (ROM), Flash memory,magnetic hard disk (HDD), optical disk, solid state disk (SSD), and thelike. A person of skill in the art will appreciate storage may beimplemented in a variety of ways such as a read only memory (ROM),random access memory (RAM), hard disk drive (HDD), network drive, flashmemory, digital versatile disk (DVD), any other forms of computer- andprocessor-readable memory or storage medium, and/or a combinationthereof. Storage can be read only or read-write as needed. Further,modern computer systems and techniques conflate volatile storage andnon-volatile storage, for example, caching, using solid-state devices ashard drives, in-memory data processing, and the like.

The at least one storage device 208 includes or storesprocessor-executable instructions and/or processor-readable data 250associated with the operation of robot 200, system 100, and the like.Herein processor-executable instructions or data includesprocessor-executable instructions and/or processor-readable data. Hereinand associated drawings instructions includes processor-executableinstructions and/or processor-readable data.

The execution of the processor-executable instructions or data cause theat least one processor 204, or control subsystem 203, to carry outvarious methods and actions, for example via the propulsion or inputsubsystem 212, and/or manipulation subsystem 218. The processor(s) 204can cause a robot, such as robot 200, to carry out various methods andactions, e.g., identify and manipulate items. Processor-executableinstructions or data 250 can, for example, include a basic input/outputsystem (BIOS) 252, an operating system 254, drivers 256, communicationinstructions or data 258, input instructions or data 260, outputinstructions or data 262, motion instructions or data 264, and executiveinstructions or data 266.

Exemplary operating systems for operating system 254 include ANDROID™,LINUX®, and WINDOWS®. The drivers 256 include processor-executableinstructions or data that allow processor(s) 204 to control circuitry ofrobot 200. The processor-executable communication instructions or data258 include processor-executable instructions or data to implementcommunications between the robot 200 and an operator console orterminal, a computer, or the like. The processor-executable inputinstructions or data 260 guide robot 200 in processing input fromsensors in input subsystem 212. Processor-executable output instructionsor data 262 guide the robot 200 in interacting within the environmentvia components of manipulation subsystem 218 or output subsystem 214.Processor-executable motion instructions or data 264 guide robot 200 inmoving within its environment via components in propulsion or motionsubsystem 216.

The processor-executable executive instructions or data 266 guide therobot 200 in reasoning, problem solving, planning tasks, performingtasks, and the like. The processor-executable executive instructions ordata 266 implement, in part, various methods described herein, includingthose in and in relation to FIG. 8, etc.

Input subsystem 212 comprises sensors or transducers that acquire datafor the robot. The data includes sensor information. Sensor informationincludes environmental sensor information representative ofenvironmental conditions external to robot 200. Sensor informationincludes robotic conditions or state sensor information representativeof conditions or states of the robot including the various subsystemsand components thereof. Such sensors may include one or more of camerasor imagers (e.g., responsive in visible and/or nonvisible ranges of theelectromagnetic spectrum including for instance infrared andultraviolet), radars, sonars, touch sensors, pressure sensors, loadcells, microphones, meteorological sensors, chemical sensors, or thelike. Exemplary sensors include camera 220 and microphone 222. Sensorinformation can, for example, include diagnostic sensor information thatis useful in diagnosing a condition or state of the robot 200 orenvironment in which robot 200 operates. For example, such sensors mayinclude contact sensors, force sensors, strain gages, vibration sensors,position sensors, attitude sensors, accelerometers, and the like. Insome implementations, the diagnostic sensors include sensors to monitora condition and/or health of an on-board power source (e.g., batteryarray, ultra-capacitor array, fuel cell array).

The output subsystem 214 comprises one or more output devices. Theoutput subsystem 214 allows robot 200 to send signals into the robot'senvironment. Example output devices are speakers, displays, lights, andthe like. Robot 200 may communicate with an agent, such as, a person,and another robot.

FIG. 3 schematically shows exemplary parts of a system 300, including aprocessor, that may be used as system 106 in FIG. 1. System 300 sharessome similar components with robot 200 but typically differs in lackingthe propulsion or motion sub-system and the manipulation sub-system.System 300 has different components within some sub-systems, such as, aninput subsystem 312 and output subsystem 314.

System 300 includes at least one body or housing 302, and a controlsubsystem 303 that includes at least one processor 304, at least onenontransitory computer- or processor-readable storage device 308, and atleast one bus 306 to which the at least one processor 304 and the atleast one nontransitory computer- or processor-readable storage device308 are communicatively coupled. System 300 includes a network interfacesubsystem 310 is communicatively coupled to bus(es) 306 and providesbi-directional communication with other systems (e.g., processor baseddevices associated with observers, online storage providers) via networkor non-network communication channel 108.

System 300 includes an input subsystem 312. Input subsystem 312 mayinclude one or more user interface input devices, such as, a touchdisplay, a keyboard, a mouse or other pointer device, a microphone, anda camera. In some implementations, input subsystem 312 is coupled tocontrol subsystem 303 via network interface subsystem 310. In someimplementations, input subsystem 312 includes one or more sensors suchas environmental sensors.

System 300 includes an output subsystem 314 comprising one or moreoutput devices, such as, displays, speakers, and lights. Input subsystem312 and output subsystem 314, are communicatively coupled to theprocessor(s) 304 via bus(es) 206.

Storage device(s) 308 includes or stores processor-executableinstructions or data 350 associated with the operation of system 300, orsystem 100. Processor-executable instructions or data 252-262 aredescribed herein and with appropriate changes are applicable to system300, e.g., absence of a motion subsystem. In various implementations,storage device(s) 308 includes or stores one or more of:processor-executable analyzer instructions or data 368,processor-executable server instructions or data 370, andprocessor-executable partition instructions or data 372. Theprocessor-executable analyzer instructions or data 368,processor-executable server instructions or data 370, andprocessor-executable partition instructions or data 372 may implement,in part, various methods described herein, including those in and inrelation to FIGS. 8-10, and 14-16.

Processor-executable analyzer instructions or data 368, when executed bycontrol subsystem 303, generates autonomous robot control instructions.Processor-executable server instructions or data 370, when executed byprocessor(s) 304, guide system 300 to coordinate the operation of system100, and/or to act as a mediator between robots 102, system 106, and thelike. Processor-executable partition instructions or data 372, whenexecuted, guide system 300 to receive information that represents aplurality of items, receive information that represents a partition ofthe plurality of items, process, store or update the same information,and the like. Processor-executable partition instructions or data 372,when executed, may guide one or more devices to indicate, via an outputdevice, a part of a plurality of parts for a partition of the pluralityof items is complete or incomplete. Processor-executable partitioninstructions or data 372, may when executed, guide operation of device700 shown in FIGS. 4-6 or device 1100 shown in FIGS. 11-13.

FIG. 4 shows, in perspective view, an exemplary device in accordancewith the present systems, methods and articles. FIGS. 5A and 5B includeelevation views of device 400, and FIG. 6 includes a plan view of device400. Device 400 includes an input part 402 and an output part 410. Insome implementations, input part 402 includes a frame 404 which may becoupled or connected to a base, e.g., floor, ground, or platform. Arobot arm 406 may be coupled or connected to frame 404, e.g., connectedto, or coupled to frame 404 via connection to the platform or floor.Herein device 400 and methods 700, 800, 900, and 1000 are described asbeing performed by one arm and end-effector. However, device 400 andmethods 700, 800, 900, and 1000 may include at least one arm orend-effector.

Device 400 may include an end of arm tool or end-effector 407, e.g.,gripper. Robot arm 406 may be a lightweight six joint industrial robotarm, such as, a UR5™ from Universal Robots A/S of Odense, DK-83. TheUR5™ arm has a lift capacity of 5 Kg and have a working radius (e.g.,extent, range) of 850 mm. Frame 404 may be sized to allow robot arm 406to move largely unimpeded by frame 404. The UR5 arm may be fitted withan end-effector such as an EZGRIPPER™ from Sake Robotics of RedwoodCity, Calif., US. Robot arm 406 may be a six joint robot arm, such as, aCR-7iA™ and CR-7iA/L™ robot arm from Fanuc America Corp., RochesterHills, Mich., US. The CR-7iA arm has a lift capacity of 7 Kg and have arange of 717 mm and 911 mm for the CR-7iA/L™ arm. Robot arm 406, e.g.,CR-7iA arm, may be fitted with an end-effector such as shown anddescribed in commonly assigned U.S. Patent Applications Nos. 62/473,853and 62/515,910 filed 2017 Mar. 20 and 2017 Jun. 6.

The robot arm 406 and at least one associated end-effector 407 may moveitems to, from, and within input area 408. Examples of items includearticles, goods, objects, packages, units, and workpieces. Input area408 may be disposed proximate to robot arm 406 and associatedend-effector 407, i.e., the end-effector may grasp workpieces or itemsin input area 408. Robot arm 406 and associated end-effector may moveworkpieces or items to, from, and around input area 408. A plurality ofitems may be disposed in input area 408. The plurality of items may bereferred to as a batch or group, may be of two or more types, or may beassociated with two or more specified, partitions (i.e., parts) of theplurality of items. There may be two or more desirable partitions (e.g.,action of division of a plurality into groups or parts, put into effecta scheme for division) for plurality of items.

Device 400 includes a process buffer 412 that may be disposed betweeninput part 402 and output part 410. Process buffer 412 is an area, bin,feed zone, hopper, receiver, or workspace, which robot arm 406 andend-effector 407 may move workpieces or items to, from, and around in.Robot arm 406 may move items from input area 408 to process buffer 412,or to, from, and around in input area 408. Robot arm 406 may move afirst item to process buffer 412. Robot arm 406 may move a second itemto process buffer 412 to join the first item. The first and second itemcould be destined for one or the same partition of a set of partitions.Alternatively, device 400 may transfer the first item out of processbuffer 412 and place (e.g., release above, set down in) the second itemalone in process buffer 412. The first and second item could each bedestined for respective ones of two different partitions of a set ofpartitions.

Output part 410 of device 400 includes a conveyor 414. Conveyor may bedisposed proximate to process buffer 412. For example, at least a partof conveyor 414 may underlie some or all of process buffer 412. Conveyor414 is horizontal, inclined, or vertical device that is selectivelyoperable to move or transport items, packages, or bulk material, in apath determined at least in part by the design of the device. The pathmay be open or closed. The direction of movement along the path may bereversed, e.g., upon execution of processor-readable instructions thedirection of movement of conveyor 414 is reversed. Conveyor 414 alsoincludes one or more points to load, remove, inspect, or sort items,packages, or material transported by conveyor 414. Conveyor 414 may beone of various mechanical contrivances, such as, carousel, conveyorbelt, cross-belt conveyor, bombardier sorter, garment or other hangingconveyor, roller conveyor, slat conveyor, trolley or cart on track, orthe like. Device 400 may include a motor (not shown) that iscommunicatively coupled to a controller and drivingly coupled toconveyor 414 to selectively move the first conveyor in response toexecution of processor-executable instructions.

Conveyor 414 includes a plurality of locations 416, e.g., disposed on,or in, conveyor 414. Device 400 may transfer one or more items fromprocess buffer 412 to a location 416 included in conveyor 414. Forexample, conveyor 414 could include a load point proximate to processbuffer 412, e.g., next to, partially under, or under. Device 400 caninclude and use a diverter (not shown) proximate to process buffer 412to transfer one or more items from process buffer 412 to a particularlocation 416, e.g., a place on conveyor 414, a particular bin of a setof bins carried by conveyor 414 (not shown). Device 400 can include anduse a diverter (not shown) proximate to one or more locations 416 onconveyor 414 to transfer one or more items from one or more particularlocations 416 to a particular containers of a set of containers 418.Examples of diverters include devices selectively operable to move itemswith respect to, e.g., on or off, process buffer 412 or conveyor 414,such as, arm and end-effector, deflector paddle or vane, bombardier door(i.e., bomb bay door), push (impact) diverter, pull (rake) diverter,moving slates, pop-up skewed wheels, rollers or chains, and cross-beltunit as part of a cross belt conveyor. In various implementations,device 400 includes a bombardier door in the inferior parts of processbuffer 412.

Device 400 can include and use a respective diverter (not shown)proximate a respective location 416 to transfer one or more items fromrespective location 416 to another place, e.g., a container or bin oraddressable or indexable location. In various implementations, device400 includes one or more bombardier doors in the inferior parts ofrespective location 416. Conveyor 414 may be a bombardier sorter or amodified bombardier sorter that can carry one or more items in onelocation and superior to bombardier door(s). A bombardier sorterincludes a device from which an item is dropped down through swingingdoor or doors to a desired location.

Output part 410 of device 400 includes one or more areas to receive oneor more containers 418. Examples of the one or more areas are disclosedherein, at least, in relation and with FIGS. 5A, 5B, and 6. A containermay be a receptacle, such as, bin, box, carton, enclosure, or tote. Acontainer may be a formed or flexible cover (e.g., bag) for thecontainment, packing, or shipment of items, goods, or materials.Containers 418 include exemplary container 418-1 and container 418-2 inadjacent positions. Containers 418 may be in a one-to-one mapping oflocations 416 to containers 418. There may be an integer multiple oflocations to containers or vice versa. Containers 418 may, for example,be arranged in one or more arrays, for instance in a circular or endlessarray as illustrated, or for instance in a one-dimensional or lineararray or in a two-dimensional array. Containers 418 may, for example,arranged along part of a of the path of a conveyor. For example, aconveyor may have a discorectangular (i.e., stadium) shape andcontainers 418 may be disposed underneath one or more linear parts orcurved parts of the conveyor. Not all containers 418 need to be presentduring operation of device 400.

FIG. 5A shows an exemplary arrangement of process buffer 412, conveyor414, and containers 418. FIG. 5A illustrates device 400 in elevationview from a point near the bottom left corner of FIG. 4. Process buffer412 may overlie a part of conveyor 414. Conveyor 414 may overlie some orall of containers 418. Conveyor 414 may overlie a part of one or morecontainers or some of containers 418.

Frame 404, input area 408, conveyor 414, or containers 418 may variouslybe coupled to, be affixed to, overlie, or rest on a platform 420, e.g.,floor, ground, pedestal, shelf, and stage. In some implementations,frame 404 and input area 408 are coupled to a first platform, andconveyor 414 and containers 418 are coupled to a second platform.

FIG. 5B shows an exemplary arrangement of frame 404, robot arm 406,process buffer 412, locations 416, and containers 418. FIG. 5Billustrates device 400 in elevation view from a point near the bottomright corner of FIG. 4. Locations 416 may overlie some or all ofcontainers 418. Containers 418 may rest on platform 420 or be supportedthereby, for example to move therewith.

FIG. 6 illustrates, in plan view, device 400 and includes an exemplaryarrangement of process buffer 412, conveyor 414, locations 416, andcontainers 418. Two options for platform 420 each with different shapeare shown in FIG. 6. Containers 418 may rest on a platform, such asplatform 602, that has a cooperative shape to conveyor 414. Half ofplatform 602 is shown in solid lines on left side of the illustratedcenter line and in phantom lines on the right side of the center line.Platform 602 may be a stage or shelf disposed above or below a floor.Containers 418 may rest on platform 604 with general horizontal extentthat is larger than that of conveyor 414. Half of platform 604 is shownin phantom lines on the left side of the center line.

Conveyor 414 may overlie some or all of containers 418. Conveyor 414 mayoverlie parts of one or more containers 418. For example, location 416-1overlies all of container 418-1 (see hidden lines). In someimplementations, conveyor 414 and location 416-2 overlies an areaproximate to container 418-2 (solid lines). Conveyor 414 and location416-3 may overlie in part container 418-3 (see hidden and solid lines).

Containers 418 or the locations the containers 418 occupy may be spacedapart from each other and spaced away from the conveyor 414. A robotcould place and remove containers 418 proximate to device 400. One ofcontainers 418 could be an error container for holding items that devicecould not recognize or include in a defined partition of a plurality ofdevices.

Device 400 may include at least one sensor. The at least one sensor mayinclude one or more sensors that detect, sensor, or measure conditionsor states of device 400 and/or conditions in the environment to device400, and provide corresponding sensor data or information includinginformation about the state of process buffer 412, conveyor 414, aplurality of items and/or the contents of the various containers 418.Such sensors include cameras or other imagers, touch sensors, loadcells, pressure sensors, microphones, RFID readers, or the like. The atleast one sensor may be arranged in a sensor subsystem communicativelycoupled to at least one processor.

FIG. 7 shows method 700 controlled by circuitry or at least one hardwareprocessor. Method 700 include at least one process associated with themovement of items a supply chain. A first part 702 of method 700 mayoccur in a first location and a second part 712 may occur in a secondlocation.

Method 700 begins, for example, in response to an invocation by thecontroller. At 704, the controller causes induction of a plurality ofitems into a material handling system, e.g., bombardier sorter. Theitems may be of two or more types. Induction can include singulation ofa plurality of items into single units and deposition of the units ofitems into a conveyor. At 706, the controller causes sortation of theplurality of items into one or more batches. At 708, the controllercauses unitization (e.g., packetization) of the one or more batches. Forexample, each batch is boxed, wrapped, or palletized.

At 710, the controller causes the transportation of the one or morebatches. For example, each batch is dispatched via an automated orsemi-automated logistics system.

At 714, the controller causes reception of at least one batch. At 716,the controller causes partition of the at least one batch into two ormore parts. At 718, the controller causes further action upon the two ormore parts. Some or all of acts 714, 716, and 718 may be performed bydevice 400.

Method 700 may in used in as part of commercial transaction. A userthrough a network may place order for a good from a supplier, e.g.,online order. The order may be received with low per unit cost butdelivered via tangible distribution system with high per unit costs,e.g., overnight delivery services. A retailer could batch orders into abox and send the box to a forward warehouse, retail store of retailer oraffiliate. This may save on shipping costs and time. However, costassociated with separation of the orders may reduce the savings.

FIG. 8 shows a method 800 of operation of device 400. Those of skill inthe art will appreciate that other acts may be included, omitted, and/orvaried to accommodate alternative implementations. Method 800 isdescribed as being performed by a controller, for example, controlsubsystem 203 or processor(s) 204 in conjunction with other componentsof device 400 or system 100. However, method 800 may be performed byanother agent.

Method 800 begins, for example, in response to an invocation by thecontroller. At 802, the controller receives a plurality of items at aninput area proximate to an end-effector, e.g., end-effector 407. Forexample, a worker or a robot places a plurality of items in input area408 of device 400.

At 804, the controller acquires information that represents two or moreparts for the plurality of items. For example, the controller acquires apartition scheme for the plurality of items specifying how the pluralityof items, which need not all be unique, may be partitioned to aplurality of parts. The controller may receive information viacommunication channel like communication channel 108 shown in at leastFIG. 1. The controller may retrieve the information asprocessor-readable data stored on a storage device.

At 806, the controller sequentially partitions the plurality of items.Partitioning includes repetition of acts 808-820. As well, for brevityit is assumed there has been one iteration of acts in the descriptionbelow. A more verbose description is included herein below.

At 808, the controller causes the end-effector to grasp an instant itemfrom the plurality of items. At 810, the controller identifies theinstant item as associated with an instant part value corresponding tothe plurality of parts, e.g., a first respective part of the two or moreparts. For example, the controller receives information from one or moresensors and resolves the identity of the instant item. Act 810 may occurprior to act 808.

At 812, which may occur in a previous iteration of 806, the controlleridentifies a previous item in a process buffer, such as process buffer412, as associated with previous part value corresponding to theplurality of parts, e.g., a first respective part or a second respectivepart of the two or more parts.

At 814, the controller compares the two respective parts. If the instantpart value does not equal the previous part value (e.g., firstrespective part does not equal the second respective part) thecontroller causes the previous item to be moved from the process bufferto a conveyor, such as, conveyor 414. That is, the instant item and theprevious items are to be in separate parts under a defined partitionscheme. A part equals a part when the instant part value equals theprevious part value. A part value for an item may be defined orspecified in a partition scheme. For example, a first item is associatedwith a first part and a second item is associated with the same firstpart. Part values may be logically equivalent, for example, bycorresponding to a same order or same destination. Thus, two differentitems, e.g., not the same type or stock keeping unit (SKU), may be forthe same part, e.g., fulfill at least partially the same part.Conversely, two instances of the same item, e.g., same SKU, may beassociated with different parts.

At 816, the controller places the instant item in the process buffer. Inthis way, items for a part of the two or more parts for the plurality ofparts may be grouped together.

In some implementations, if instant part value equals the previous partvalue, the controller, causes a transfer of the previous item from theprocess buffer, e.g., to the conveyor. The controller directs theend-effector to transfer the instant item to the process buffer. Thecontroller causes the previous item and the instant item to be groupedat first location, e.g., on the conveyor or disposed under the conveyor.

Method 800 continues until termination such as an error condition,receiving a stop signal, or complete partition of the plurality of itemshas been achieved, fulfillment of the two or more parts, or the like.Processing may continue in method 900 shown in FIG. 900.

The controller may receive a plurality of items at an input areaproximate to an end-effector. The controller may acquire informationthat represents or defines two or more parts for the plurality of items.The controller may partition, sequentially, the plurality of items. Thepartition may make use of the end-effector. The controller may cause theend-effector to grasp a first item from the plurality of items. Thecontroller may identify the first item as associated with a first partvalue, e.g., a first part of the two or more parts. The controller mayidentify the first item before causing the end-effector to grasp thefirst item. The controller may cause the end-effector to place the firstitem in the process buffer. The controller may cause the end-effector tograsp a second item from the plurality of items. The controller mayidentify the second item as associated with a second part value, e.g.,the first part or a second part. If the first part value equals thesecond part value (e.g., both values are the first part of the of thetwo or more parts) the controller may direct the end-effector to placethe second item in the process buffer. That is, the first and the seconditem fulfill, at least in part, a first part of the two or more parts.If the first part value does not equal the second part value, e.g., thesecond part value is another part of the two or more parts, thecontroller may cause the first item to be transferred to a conveyor andthe end-effector to place the second item in the process buffer. Thatis, the first item fulfills, at least in part, a first part of the twoor more parts and the second item fulfills, at least in part, a secondpart of the two or more parts. This method repeats until termination.

FIG. 9 shows a method 900 of operation of device 400. Those of skill inthe art will appreciate that other acts may be included, omitted, and/orvaried to accommodate alternative implementations. Method 900 isdescribed as being performed by a controller, for example, controlsubsystem 303 or processor(s) 304 in conjunction with other componentsof device 400 or system 100. However, method 900 may be performed byanother agent.

Method 900 may begin after one or more instances of method 800 have beenexecuted. At 902, the controller causes, e.g., requests or directs, oneor more containers to be placed in location(s) proximate to theconveyor. For example, at locations associated with containers 418.

At 904, the controller causes a sequential partitioning of a pluralityof items. Partitioning includes repetition of one or more of acts906-910. Acts 906-910 may be performed in any order or combination. Thecontroller may direct a conveyor, e.g., conveyor 414, and one or morediverters with respect to the process buffer and the conveyor.

At 906, the controller may cause the conveyor to move in a firstdirection, e.g., clockwise. At 908, the controller may cause theconveyor to move in a second direction, e.g., counterclockwise. In act906 and act 908, the controller may be moving items carried by theconveyor to be proximate to one or more locations. That is, cause theconveyor to move so that one or more items carried by the conveyor areproximate to one or more locations. In act 906 and act 908, thecontroller may be moving one or more locations, e.g., empty location(s),to be proximate to the process buffer. Acts 906 and 908 have a seek timethat the process buffer masks from the end-effector.

At 910, the controller may cause a transfer of one or more items fromthe process buffer onto the conveyor. For example, the controller maycause a diverter to move the one or more items from the process bufferto a first location included in the conveyor.

At 912, the controller may cause a transfer of one or more items fromthe conveyor to one or more containers. For example, the controller maycause a diverter to move the one or more items from the conveyor to acontainer on a platform proximate to the conveyor, e.g., container 418-1on platform 420.

At 914, the controller may cause, e.g., request or direct, one or morecontainers to be removed from the platform. The one or more containersmay contain one or more parts for a partition of the plurality of items.Each container may contain one or more items.

At 916, the controller may cause an update of processor-readableinformation that represents the first respective item has been placed onthe conveyor. At 916, the controller may cause an update ofprocessor-readable information that represents the first respective itemhas been placed in a container. The processor-readable information isstored on or in at least one processor-readable storage device.

FIG. 10 shows a method 1000 of operation a robotic system. Method 1000may be controlled by at least one processor in communication with atleast one end-effector and a conveyor. Those of skill in the art willappreciate that other acts may be included, omitted, and/or varied toaccommodate alternative implementations. Method 1000 is described asbeing performed by a controller, for example, control subsystem 303 orprocessor(s) 304 in conjunction with other components of device 400 orsystem 100. However, method 1000 may be performed by another agent.

Method 1000 begins with invocation by the at least one processor. Act1002 starts after receiving a plurality of items in an area reachable byat least one end-effector. The plurality of items admits to apartitioning into a plurality of parts. The at least one processor,end-effector, or a conveyor partition sequentially the plurality ofitems, wherein partitioning includes some or all of acts 1002-1014, andmay include further acts.

At 1002, the at least one end-effector grasps a first respective itemfrom a plurality of items.

At 1004, at least one processor identifies the first respective itemfrom the plurality of items as associated with a first respective partfrom a plurality of parts.

At 1006, the at least one end-effector places the first respective itemin a buffer area. In some implementations, to place, by the at least oneend-effector, of the first respective item in the buffer area includesthe at least one end-effector releasing the first respective item abovethe buffer area.

At 1008, the at least one end-effector grasps a second respective itemfrom the plurality of items.

At 1010, the at least one at least one processor identifies the secondrespective item from the plurality of items.

At 1012, if the second respective item is with the first part of theplurality of parts, the at least one end-effector places the secondrespective item in the buffer area.

At 1014, if the second respective item is associated with the secondpart of the plurality of parts, the at least one processor causes atransfer of the first respective item from the buffer area to theconveyor. In some implementations, the transfer includes dropping thefirst respective item from the buffer area to the conveyor. In someimplementations, the at least one end-effector moves the firstrespective item from the buffer area to the conveyor.

At 1016, if the second respective item is associated with the secondpart of the plurality of parts, the at least one end-effector places thesecond respective item in the buffer area.

FIG. 11 illustrates, in a perspective view, an exemplary device 1100 inaccordance with the present systems, methods and articles, along with ahuman worker 1161. FIG. 12 is an elevation view of device 1100, and FIG.13 is a plan view of device 1100. Some components included in one vieware not shown in a corresponding view.

Device 1100 includes an input part 1102 and an output part 1110. In someimplementations, input part 1102 includes a frame 1104 which may becoupled or connected to a base, e.g., floor, ground, or platform. One ormore robot arms 1106, e.g., multi-joint manipulator(s), may be coupledor connected to frame 1104. Robot arm(s) 1106 may couple to at least oneend-effector 1107 distally disposed on arm(s) 1106 relative to frame1104. Herein device 1100 and methods 700, 800, 900, 1000, 1400, 1500, etseq. are described as being performed by an arm and an end-effector.However, device 1100 and methods described herein may include at leastone arm or end-effector.

Robot arm 1106 may be a lightweight six joint industrial robot arm, suchas, a UR5™ from Universal Robots A/S of Odense, DK-83. The UR5™ arm hasa lift capacity of 5 Kg and have a range of 850 mm. Frame 1104 may besized to allow robot arm 1106 to move largely unimpeded by frame 1104.Robot arm 1106 may be a six joint robot arm, such as, a CR-7iA™ andCR-7iA/L™ robot arm from Fanuc America Corp., Rochester Hills, Mich.,US. The CR-7iA arm has a lift capacity of 7 Kg and have a range of 717mm and 911 mm for the CR-7iA/L™ arm. The robot arm 1106 may be fittedwith an end-effector, such as, an EZGRIPPER™ from Sake Robotics ofRedwood City, Calif., US; or an end-effector shown and described incommonly assigned U.S. Patent Applications Nos. 62/473,853 and62/515,910 filed 2017 Mar. 20 and 2017 Jun. 6.

The robot arm(s) 1106 and associated end-effector(s) 1107 may move itemsto, from, and within input space 1108. Input space 1108 may be disposedproximate to end-effector(s) 1107 such that end-effector(s) 1107 maygrasp workpieces or items in input space 1108. The end-effector(s) 1107and associated arm(s) 1106 may move workpieces or items to, from, andaround input space 1108.

A plurality of items may be disposed in input space 1108. The pluralityof items may be referred to as a batch or group, may be of two or moretypes, or may be associated with two or more specified or defined,partitions (i.e., parts) of the plurality of items. The plurality ofitems item may be added to input space 1108 in tranches, e.g., onecontainer at a time with intervening action by at least one processor orend-effector(s) 1107. Device 1100 may be used in a way such that assuccessive items are added to items already present in input space 1108the addition of items is regarded as correct when the added itemspartially or fully complete the batch. That is, when one or more itemsare present in input space 1108 a correct procedure could be to onlyallow addition of further items to input space 1108 when the furtheritems complete the batch. For example, two containers may be placed ordumped into an input space 1108. One human worker 1161 could provide thetwo containers or two different workers to provide the two containersincluding items. There could be some or no time separation between theadding items from the two containers.

Device 1100 includes a plurality of reception spaces 1112-1, 1112-2,1112-3 (only three called out for clarity of drawing, collectively 1112)proximate to input space 1108 and robot arm(s) 1106. For example, theend-effector(s) 1107 and associated robot arm(s) 1106 may be moveable tobe at least proximate with the plurality of reception spaces 1112. Theend-effector(s) 1107 and associated arms(s) 1106 may move items frominput space 1108 to the plurality of reception spaces 1112, or to, from,and around in input space 1108. The end-effector(s) and associatedarm(s) 1106 may grasp a first respective item from a plurality of itemsin input space 1108. The end-effector(s) 1107 and associated arm(s) 1106may transfer the first respective item to a first reception space in theplurality of reception spaces 1112, e.g., reception space 1112-1. Theend-effector(s) 1107 and associated arm(s) 1106 may grasp a secondrespective item from the plurality of items, and may transfer the secondrespective item to the first reception space (e.g., reception space1112-1) or a second reception space (e.g., reception space 1112-2, or1112-3).

Device 1100 may include a plurality of extraction spaces 1116-1, 1116-2,1116-3 (only three called out for clarity of drawing, collectively1116). The plurality of extraction spaces 1116 may correspond to (e.g.,one to one) the plurality of reception spaces 1112. For example,reception space 1112-1 may correspond to extraction space 1116-1, forinstance the reception space 1112-1 corresponding extraction space1116-1 may be coupled via a passage therebetween or otherwise provideaccess for items placed in the reception space 1112-1 to transit to thecorresponding extraction space 1116-1. That is an item transferred frominput space 1108 to reception space 1112-1 may be retrieved fromextraction space 1116-1. The plurality of extraction spaces 1116 mayoverlap to (e.g., one to one) the plurality of reception spaces 1112. Apair of one reception space and one extraction space may include anoverlapping volume or area. The one reception space may be accessed viaa first opening and the one extraction space may be accessed via asecond opening.

Device 1100 may include a plurality of septums 1122-1 (only one calledout for clarity of drawing). A respective septum, e.g., septum 1122-1,may be disposed between and separate a respective pair of receptionspaces 1112, or a respective pair of extraction spaces 1116. That is, aseptum 1122-1 may define a boundary between a pair of spaces, e.g.,separate a respective pair of reception spaces 1112, a respective pairof extraction spaces 1116, or a reception space and an extraction space.

Device 1100 may include a plurality of slides 1124-1, 1124-2 (only twocalled out for clarity of drawing, collectively 1124). A respectiveslide, e.g., slide 1124-1, may be disposed between and couple areception space and an extraction space, e.g., reception space 1112-1and extraction space 1116-1. That, is a slide included in the pluralityof slides 1124 may allow for one or more items to be transferred (e.g.,slide) from a reception space and a corresponding extraction space. Theslide may be arranged such that end-effector(s) 1107 may release an itemin a reception space and a worker (e.g., robot 200 or human worker 1161)may extract or retrieve the item from a corresponding extraction space.

FIG. 12 shows an exemplary arrangement of frame 1104, robot arms(s)1106, end-effector(s) 1107, input space 1108, reception spaces 1112, andextraction spaces 1116. FIG. 12 illustrates device 1100 in elevationview from a point near the bottom right corner of FIG. 11. The receptionspaces 1112 are in a position superior to input space 1108. However, thereception spaces 1112 may be positioned even with or below input space1108. Robot arm(s) 1106 may hang from frame 1104, extend from a pedestalto be moveably proximate to input space 1108 and the reception spaces1112.

Device 1100 may include a plurality of slides 1124. For example, slide1124-1 may be disposed between and couple reception space 1112-1 andextraction space 1116-1. Slide 1124-1 may passively allow for one ormore items to be transferred from reception space 1112-1 to extractionspace 1116-1, for example under influence of the force of gravity. Thatis an item may slide, roll, or fall from reception space 1112-1 toextraction space 1116-1 and the may be item in contact with slide 1124-1as it slides, rolls, or falls.

Device 1100 may include at least one sensor or transducer, for example,camera 1202 or other imager. The at least one sensor may include one ormore sensors that detect, sensor, or measure conditions or states ofdevice 1100 and/or conditions in the environment to device 1100, andprovide corresponding sensor data or information including informationabout the state of input space 1108, reception spaces 1112, andextraction spaces 1116. Such sensors or transducers include cameras orother imagers, rangefinders, machine-readable symbol readers (e.g.,barcode scanners), touch sensors, load cells, pressure sensors,microphones, RFID readers or interrogators or radios, or the like. Theat least one sensor or transducer may be arranged in a sensor subsystemcommunicatively coupled to at least one processor.

One or more parts of device 1100 may be coupled to, e.g., rest on, beaffixed to, a platform 1220. Human worker 1161 may stand on platform1220 or a platform above or below platform 1220.

FIG. 13 illustrates, in plan view, device 1100 including an exemplaryarrangement frame 1104, input part 1102, input space 1108, output part1110, reception spaces 1112, and extraction spaces 1116. As illustrated,output part 1110 including reception spaces 1112 may wrap or curvearound part of input part 1102 including input space 1108. Output part1110 including extraction spaces 1116 may wrap or curve around part ofinput part 1102. Thus, the device 1100 may have an annular shape orpartial annular shape or profile, for instance as viewed from a top ofthe device looking directly down at the device.

Device 1100 may include an output device (not shown) communicativelycoupled to at least one processor, e.g., processor(s) 304. The at leastone processor may direct the output device display of one or more visualindications associated with one or more extraction space. The visualindication may convey information that represents or defines a spacestatus for respective extraction space or associated part of a pluralityof parts. The space status may be a null, complete, incomplete, inprocess, or the like. The visual indication may convey a part iscomplete or incomplete. The visual indication may be based on theprocessor-readable information, such as, processor-readable errorinformation that represents an incomplete space status, or theprocessor-readable completion information that represents a completespace status. The at least one processor may operator, e.g., selectivelyoperate the output device in response to execution ofprocessor-executable instructions. In various implementations, the atleast one processor may generate a signal that includesprocessor-readable error information that represents space statusinformation.

Device 1100 may include, as or in an output device, one or more lightsproximately disposed to the respective extraction space (not shown) andcommunicatively coupled to the at least one processor, e.g.,processor(s) 304. Device 1100 may include a plurality of lights disposedon device 1100 in location near extraction spaces 1116. Device 1100 mayinclude as or in an output device an augmented reality display for anobserver (e.g., robot or human worker 1161). and communicatively coupledto the at least one processor. Examples of an augmented reality displayare shown in FIG. 1 at operator interface 104. The augmented realitydisplay may be a display headset including a display and attitude ordirection sensor, such as, an OCULUS RIFT™, or ALTERGAZE™, available,respectively, from Oculus VR of Menlo Park, Calif., US; and AltergazeLtd of London, UK. Device 1100 may include as or in the output displayin communication with the at least one processor, e.g., part of observerinterfaces 160 shown in FIG. 1. Operation of one or more output devicesis described herein at, at least, FIG. 16.

FIG. 14 shows method 1400 controlled by circuitry or at least onehardware processor. Method 1400 include at least one process associatedwith the movement of items. A first part 1402 of method 1400 may occurin a first location and a second part 1410 may occur in a secondlocation. First part 1402 and second part 1410 may occur in the samelocation, e.g., building, floor, area. The first part 1402 of method1400 may occur one or more times relative to each one occurrence of thesecond part 1410 of method 1400.

Method 1400 begins, for example, in response to an invocation by thecontroller. At 1404, the controller requisitions for a plurality ofitems into a material handling system, e.g., picker travels to orthorough a storage area. The items may be of two or more types. At 1406,the controller causes collection of the plurality of items into one ormore containers. At 1408, the controller causes presentation (e.g.,production) of the one or more containers. For example, items in the oneor more containers represent a batch or a tranche of a batch.

At 1412, the controller causes reception of a first tranche of thebatch. At 1414, the controller causes reception of a second tranche ofthe batch. At 1416, the controller causes partition of the at least onebatch into two or more parts. At 1418, the controller causes furtheraction upon the two or more parts. Some or all of acts 1412, 1414, 1416,and 1418 may be performed by device 400 or device 1100.

FIG. 15 shows a method 1500 of operation a robotic system. Method 1500may be controlled by at least one processor in communication with atleast one end-effector. Those of skill in the art will appreciate thatother acts may be included, omitted, and/or varied to accommodatealternative implementations. Method 1500 is described as being performedby a controller, for example, control subsystem 303 or processor(s) 304in conjunction with other components of device 400, device 1100, orsystem 100. However, method 1500 may be performed by another agent.

Method 1500 begins with invocation by the at least one processor. Act1502 starts after receiving a plurality of items. For example, themethod 1500 may start 1502 after or in response to receiving a pluralityof items in input space 1108. The plurality of items admits to apartitioning into a plurality of parts. The partition of the pluralityof items may make use of a plurality of reception spaces proximate to,e.g., reachable by, the at least one end-effector. The at least oneprocessor and at least one end-effector partition sequentially theplurality of items, wherein partitioning includes some or all of acts1502-1514, and may include further acts.

At 1502, the at least one end-effector grasps a first respective itemfrom a plurality of items. For example, end-effector 1107 grasps an itemdisposed in input space 1108.

At 1504, at least one processor identifies the first respective itemfrom the plurality of items as associated with a first respective partfrom a plurality of parts. For example, various machine-visiontechniques can be performed on an image of the first respective item torecognize such, and/or machine-readable information (e.g., opticallyreadable machine-readable symbol for instance a barcode symbol, uniqueidentifier wireless read from a wireless transponder for instance anRFID transponder or RFID tag) can be read from the first respective itemor a label or transponder carried by the first respective item torecognize such. The first respective part from the plurality of partsmay be associated with a particular destination, e.g., extraction space1116-1.

At 1506, the at least one end-effector places the first respective itemin a first respective reception space in the plurality of receptionspaces. In some implementations, to place, by the at least oneend-effector, of an item in a reception space includes the at least oneend-effector releasing the item above the reception space.

At 1508, the at least one end-effector grasps a second respective itemfrom the plurality of items. The at least one processor may receiveinformation from a sensor subsystem to isolate or resolve the secondrespective item from amongst the plurality of items and direct the atleast one end-effector grasps the second respective item.

At 1510, the at least one at least one processor identifies the secondrespective item from the plurality of items. The at least one processormay receive information from a sensor subsystem to identify the secondrespective item, e.g., determine product or SKU for a respective item.For example, various machine-vision techniques can be performed on animage of the second respective item to recognize such, and/ormachine-readable information (e.g., optically readable machine-readablesymbol for instance a barcode symbol, unique identifier wireless readfrom a wireless transponder for instance an RFID transponder or RFIDtag) can be read from the second respective item or a label ortransponder carried by the second respective item to recognize such. Theat least one processor may make use of a manifest for the plurality ofitems to identify the first or the second respective item.

At 1512, if the second respective item is associated with the first partof the plurality of parts, the at least one end-effector places thesecond respective item in the first respective reception space in theplurality of reception spaces.

At 1514, if the second respective item is associated with the secondpart of the plurality of parts, the at least one end-effector places thesecond respective item in the first respective reception space in theplurality of reception spaces.

FIG. 16 shows a method 1600 of operation a robotic system. Method 1600may be controlled by at least one processor in communication with atleast one end-effector. Those of skill in the art will appreciate thatother acts may be included, omitted, and/or varied to accommodatealternative implementations. Method 1600 is described as being performedby a controller, for example, control subsystem 303 or processor(s) 304in conjunction with other components of device 400, or system 100.However, method 1600 may be performed by another agent.

Method 1600 begins with invocation by the at least one processor. At1602, a plurality of items is received at an input space. For example,the at least one processor may receive information from a sensorsubsystem where the information characterizes the plurality of itemshave been deposited in the input space. For example, a worker, such asworker 1161, may tip a container including a plurality of items intoinput area 1108 or an actuator (e.g., electric motor, solenoid,pneumatic or hydraulic piston) may automatically tip the container. Thecontainer may include an RFID tag associated with a manifest or pickinglist for the plurality of items.

At 1604, the at least one processor directs the at least oneend-effector to partition the plurality of items into two or more parts.The two or more parts may be defined parts per a defined partition forthe plurality of items. At 1604, the at least one processor directs, theat least one end-effector to transfer items from an input area to aplurality of reception spaces. One reception space in the plurality ofreception spaces may receive items that fulfill, at least in part, onepart of the two or more parts. The at least one processor or the atleast one end-effector may perform method 1500 at act 1604.

At 1606, the at least one processor monitors for complete fulfillment ofthe plurality of parts by the plurality of items. At 1606, the at leastone processor monitors for incomplete fulfillment of the plurality ofparts by the plurality of items. For example, the at least one processorand the at least one end-effector may have portioned all of a pluralityof items but one or more items for one or more orders may be missing.

At 1608, if a respective part of the plurality of parts is incomplete,the at least one processor generates a signal that includesprocessor-readable error information that represents an incompletestatus for the respective part. The processor-readable error informationmay also be termed processor-readable incompletion information. The atleast one processor may use the signal that includes processor-readableerror information to update processor-readable information stored on orwithin a non-transitory processor-readable storage device. The at leastone processor may cause the signal to be sent down a communicationchannel.

At 1610, if a respective part of the plurality of parts is complete, theat least one processor generates a signal that includesprocessor-readable completion information that represents a completestatus for the respective part. The processor-readable completioninformation may be used to direct a robot or a human worker to removethe one or more items in the respective part. The least one processormay use the signal that includes processor-readable error information toupdate processor-readable information stored on or within anon-transitory processor-readable storage device. The at least oneprocessor may cause the signal to be sent down a communication channel.

At 1612, the at least one processor causes display of a visualindication in an output device. The visual indication is an indicationcompletion or incompletion associated with a respective extraction spaceor associated part. The visual indication may be based on theprocessor-readable error information that represents an incompletestatus, or the processor-readable completion information that representsa complete status.

The output device may be in communication with the at least oneprocessor. The output device may be one or more lights proximatelydisposed to the respective extraction space. The output device may be anaugmented reality display for an observer (e.g., robot or human). Theoutput device may be display in communication with the at least oneprocessor.

The at least one processor may cause a change in illumination of a lightproximately disposed to the respective extraction space. For example, aflashing light could mean the part associated the respective extractionspace is incomplete. The at least one processor may change theillumination of the light via changing brightness, color, or flashingthe light.

The at least one processor may cause, e.g., in response to executingprocessor-executable instructions, a change an update of a first imagein an augmented reality display for an observer. The first image mayoverly a second image of the respective extraction space. The firstimage may be a halo, fringing, polygon, or the like.

The at least one processor may cause a change an update to an image in adisplay in communication with the at least one processor. The image mayinclude a representation of the plurality of extraction spaces (e.g., aschematic of extraction spaces 1116). The image could, via one or morevisual indications, differentiate the first respective extraction spacein the representation of the plurality of extraction spaces. The visualindication could include false (de)colouring, flashing, adding a halo orfringe, and the like.

The above description of illustrated examples, implementations, andembodiments, including what is described in the Abstract, is notintended to be exhaustive or to limit the embodiments to the preciseforms disclosed. Although specific examples are described herein forillustrative purposes, various equivalent modifications can be madewithout departing from the spirit and scope of the disclosure, as willbe recognized by those skilled in the relevant art. The teachingsprovided herein of the various embodiments can be applied to manycomputer systems, robotic systems, and robots, not necessarily theexemplary computer systems, robotic systems, and robots herein andgenerally described above.

For instance, the foregoing detailed description has set forth variousembodiments of the devices and/or processes via the use of blockdiagrams, schematics, and examples. Insofar as such block diagrams,schematics, and examples contain one or more functions and/oroperations, it will be understood by those skilled in the art that eachact and/or operation within such block diagrams, flowcharts, or examplescan be implemented, individually and/or collectively, by a wide range ofhardware, software, firmware, or virtually any combination thereof. Insome embodiments, the present subject matter is implemented viaApplication Specific Integrated Circuits (ASICs). However, those skilledin the art will recognize that the embodiments disclosed herein, inwhole or in part, can be equivalently implemented in standard integratedcircuits, as one or more computer programs executed by one or morecomputers (e.g., as one or more programs running on one or more computersystems), as one or more programs executed by on one or more controllers(e.g., microcontrollers) as one or more programs executed by one or moreprocessors (e.g., microprocessors), as firmware, or as virtually anycombination thereof, and that designing the circuitry and/or writing thesource code for the software and or firmware would be well within theskill of one of ordinary skill in the art in light of the teachings ofthis disclosure. For example, those skilled in the relevant art canreadily create source based on the flowcharts of the figures herein,including FIGS. 7-10, 14-16, and the detailed description providedherein.

As used herein processor-executable instructions and/or data can bestored on any nontransitory computer-readable storage medium, e.g.,memory or disk, for use by or in connection with any processor-relatedsystem or method. In the context of this specification, a“computer-readable storage medium” is one or more tangible nontransitorycomputer-readable storage medium or element that can storeprocesses-executable instruction and/or processor-readable dataassociated with and/or for use by systems, apparatus, device, and/ormethods described herein. The computer-readable storage medium can be,for example, but is not limited to, an electronic, magnetic, optical,electromagnetic, infrared, or semiconductor system, apparatus, device,or articles of manufacture. Processor-executable instructions arereadable by a processor. More specific examples (a non-exhaustive list)of the computer-readable medium would include the following: a portablecomputer diskette (magnetic, compact flash card, secure digital, or thelike), a random access memory (RAM), a read-only memory (ROM), anerasable programmable read-only memory (EPROM, EEPROM, or Flash memory),a portable compact disc read-only memory (CDROM), digital tape, andother nontransitory storage media.

Many of the methods described herein can be performed with variations.For example, many of the methods may include additional acts, omit someacts, and/or perform acts in a different order than as illustrated ordescribed.

The various examples, implementations, and embodiments described abovecan be combined to provide further embodiments. Aspects of theembodiments can be modified, if necessary or desirable, to employsystems, circuits, devices, methods, and concepts in various patents,applications, and publications to provide yet further embodiments.

These and other changes can be made to the examples, implementations,and embodiments in light of the above-detailed description. In general,in the following claims, the terms used should not be construed to limitthe claims to the specific embodiments disclosed in the specificationand the claims, but should be construed to include all possibleembodiments along with the full scope of equivalents to which suchclaims are entitled. Accordingly, the claims are not limited by thedisclosure.

The invention claimed is:
 1. A system comprising: a frame; a pluralityof reception spaces; at least one end-effector physically coupled to theframe and moveable to be at least proximate with the plurality ofreception spaces; a plurality of extraction spaces wherein a respectiveextraction space corresponds to a respective reception space of theplurality of reception spaces; at least one processor communicativelycoupled to control movement of at least the at least one end-effector;and at least one nontransitory processor-readable storage devicecommunicatively coupled to the at least one processor and which storesprocessor-executable instructions which, when executed by the at leastone processor, causes the at least one processor to: direct the at leastone end-effector to grasp a first respective item from a plurality ofitems, identify the first respective item from the plurality of items asfulfilling at least in part a first part of a defined partition for theplurality of items, direct the at least one end-effector to transfer thefirst respective item to a first reception space of the plurality ofreception spaces, direct the at least one end-effector to grasp a secondrespective item from the plurality of items, identify the secondrespective item from the plurality of items, if the second respectiveitem fulfills at least in part the first part of the defined partitionfor the plurality of items, direct the at least one end-effector totransfer the second respective item to the first reception space of theplurality of reception spaces, and if the second respective itemfulfills at least in part a second part of the defined partition for theplurality of items, direct the at least one end-effector to transfer thesecond respective item to a second reception space of the plurality ofreception spaces, monitor for completion of the first part and thesecond part with the plurality of items, and if the first part of thedefined partition for the plurality of items is incomplete subsequent tosuccessful transfer of the first respective item and the secondrespective item, generate a first signal that includesprocessor-readable error information that represents an incompletestatus for the first part, wherein the instructions cause the at leastone processor to direct the at least one end-effector according to atleast one direction that replays or executes previously stored pilotedrobot control instructions.
 2. The system of claim 1 wherein, whenexecuted, the processor-executable instructions further cause the atleast one processor to: if the first respective item or the secondrespective item fulfills in full the first part of the defined partitionfor the plurality of items, generate a second signal that includesprocessor-readable completion information that represents fulfillmentthe first part of the defined partition for the plurality of items. 3.The system of claim 2, further comprising: an output devicecommunicatively coupled to the at least one processor; and wherein, whenexecuted, the processor-executable instructions further cause the atleast one processor to: cause, by the at least one processor based onthe processor-readable completion information, display of a first visualindication in the output device, wherein the first visual indication isa completion indication associated with a first respective extractionspace in the plurality of extraction spaces.
 4. The system of claim 1,further comprising: an output device communicatively coupled to the atleast one processor; and wherein, when executed, theprocessor-executable instructions further cause the at least oneprocessor to: based on the processor-readable error information, displaya second visual indication in the output device, wherein the secondvisual indication is an incompletion indication associated with a firstrespective extraction space in the plurality of extraction spaces. 5.The system of claim 3 wherein: the output device includes a lightproximately disposed to the first respective extraction space in theplurality of extraction spaces; and wherein, when executed, theprocessor-executable instructions further cause the at least oneprocessor to: based on the processor-readable incompletion informationor the processor-readable completion information, when present, changeillumination in the light proximately disposed to the first respectiveextraction space in the plurality of extraction spaces.
 6. The system ofclaim 3 wherein: the output device includes an augmented reality displayfor an observer; and wherein, when executed, the processor-executableinstructions further cause the at least one processor to: based on theprocessor-readable incompletion information or the processor-readablecompletion information, when present, update a first image in theaugmented reality display for the observer, wherein the first imageoverlies a second image of the first respective extraction space in theplurality of extraction spaces.
 7. The system of claim 3 wherein: theoutput device includes a display communicatively coupled to the at leastone processor; and wherein, when executed, the processor-executableinstructions further cause the at least one processor to: based on theprocessor-readable incompletion information or the processor-readablecompletion information, when present, update a third image in thedisplay, wherein the third image includes a representation of theplurality of extraction spaces, and differentiates the first respectiveextraction space in the representation of the plurality of extractionspaces.
 8. The system of claim 1, further comprising: a plurality ofcontainers, wherein a respective container is disposed at a respectiveextraction space of the plurality of extraction spaces.
 9. The system ofclaim 8 wherein the respective extraction space in the plurality ofextraction spaces is spaced apart from another respective extractionspace in the plurality of extraction spaces, spaced away from arespective reception space in the plurality of reception spaces, and issized to receive the respective container from the plurality ofcontainers.
 10. The system of claim 9, further comprising: a pluralityof septums wherein a respective septum in the plurality of septums isdisposed between a respective pair of reception spaces, or a respectivepair of extraction spaces.
 11. The system of claim 1, furthercomprising: a plurality of slides wherein a respective slide in theplurality of slides is disposed between a respective reception space anda respective extraction space such that a respective item placed in therespective reception space slides to the respective extraction space.12. The system of claim 1, further comprising: at least one multi-jointmanipulator disposed between the frame and the at least oneend-effector.
 13. A method controlled by at least one processor incommunication with at least one end-effector, the method comprising:receiving a plurality of items in an input space reachable by the atleast one end-effector; partitioning sequentially, by the at least oneprocessor and the at least one end-effector, the plurality of items,wherein partitioning includes: grasping, by the at least oneend-effector, a first respective item from the plurality of items;identifying, by the at least one processor, the first respective itemfrom the plurality of items as associated with a first part from theplurality of parts; placing, by the at least one end-effector, the firstrespective item in a first respective reception space in a plurality ofreception spaces; grasping, by the at least one end-effector, a secondrespective item from the plurality of items; identifying, by the atleast one at least one processor, the second respective item from theplurality of items; if the second respective item is associated with thefirst part of the plurality of parts, placing, by the at least oneend-effector, the second respective item in the first respectivereception space; if the second respective item is associated with asecond part of the plurality of parts, placing the second respectiveitem in a second respective reception space in the plurality ofreception spaces; and monitoring, by the at least one processor, forcomplete fulfillment of the plurality of parts with the plurality ofitems; and if the first part or the second part of the plurality ofparts is incomplete subsequent to placing at least the first respectiveitem and the second respective item, generating, by the at least oneprocessor, a first signal that includes processor-readable errorinformation that represents an incomplete status for a respectiveincomplete part of the plurality of parts, wherein the partitioningincludes directing the at least one end-effector according to at leastone direction that replays or executes previously stored piloted robotcontrol instructions.
 14. The method of claim 13 wherein the pluralityof reception spaces is associated with a plurality of extraction spaces,the method further comprising: causing a transfer of the firstrespective item from the first respective reception space in theplurality of reception spaces to a respective extraction space in theplurality extraction spaces.
 15. The method of claim 13, furthercomprising: if the first respective item or the second respective itemfulfills, in full, the first respective part of the plurality of parts,generating, by the at least one processor, a second signal that includesprocessor-readable completion information that represents the firstrespective part of the plurality of parts is complete.
 16. The method ofclaim 15 wherein the plurality of reception spaces is associated with aplurality of extraction spaces, the method further comprising: causing,by the at least one processor based on the processor-readable completioninformation that represents the first respective part of the pluralityof parts is complete, display of a first visual indication in an outputdevice, wherein the first visual indication is a completion indicationassociated with a first respective extraction space in the plurality ofextraction spaces.
 17. The method of claim 13, further comprising: ifthe respective part of the plurality of parts is incomplete and is thefirst respective part of the plurality of parts causing, by the at leastone processor based on the processor-readable error information thatrepresents an incomplete status, display of a second visual indicationin an output device, wherein the second visual indication is anincompletion indication associated with a first respective extractionspace in the plurality of extraction spaces.
 18. The method of claim 16,further comprising: causing, by the at least one processor, based on,when present, the processor-readable completion information thatrepresents the first part of the plurality of parts is complete or theprocessor-readable error information that represents an incompletestatus, a change in illumination of a light proximately disposed to afirst respective extraction space in the plurality of extraction spaces.19. The method of claim 16, further comprising: causing, by the at leastone processor, based on, when present, the processor-readable completioninformation that represents the first part of the plurality of parts iscomplete or the processor-readable error information that represents anincomplete status, an update of a first image in an augmented realitydisplay for an observer, wherein the first image overlies a second imageof the first respective extraction space in the plurality of extractionspaces.
 20. The method of claim 16, further comprising: causing, by theat least one processor, based on, when present, the processor-readablecompletion information that represents the first part of the pluralityof parts is complete or the processor-readable error information thatrepresents an incomplete status, an update to a third image in adisplay, wherein the third image includes a representation of theplurality of extraction spaces, and differentiates the first respectiveextraction space in the representation of the plurality of extractionspaces.
 21. A system comprising: a frame; a plurality of receptionspaces; at least one end-effector physically coupled to the frame andmoveable to be at least proximate with the plurality of receptionspaces; a plurality of extraction spaces wherein a respective extractionspace corresponds to a respective reception space of the plurality ofreception spaces; at least one processor communicatively coupled tocontrol movement of at least the at least one end-effector; and at leastone nontransitory processor-readable storage device communicativelycoupled to the at least one processor and which storesprocessor-executable instructions which, when executed by the at leastone processor, cause the at least one processor to: direct the at leastone end-effector to physically partition a plurality of items into twoor more defined parts per a defined partition for the plurality ofitems, wherein a respective part of the two or more defined parts isplaced in a respective reception space of the plurality of receptionspaces, and the direction includes directing the at least oneend-effector according to at least one direction that replays orexecutes previously stored piloted robot control instructions;determine, as a result of physically partitioning the plurality ofitems, that a defined part of the two or more defined parts isdeficient; and generate, responsive to determination that the definedpart is deficient, a signal indicating an incomplete status for thedefined partition.